Thanks Eitan and Dan!
I'll try that first thing on monday and report back what happens.
Our robots, the Roombas, have 4 cliff sensors. I believe using PointCloud is more "legitimate" than faking a laser, so my question is, will a point per cliff sensor suffice, how should I but more per sensor?
Gonçalo Cabrita
ISR - University of Coimbra
Portugal
On Jul 30, 2010, at 7:33 PM, Eitan Marder-Eppstein wrote:
Gancalo,
It should be possible to make the navigation stack aware of this information. As Dan mentioned, you can publish a LaserScan or PointCloud in-front of the cliff that will keep the robot from driving there. You'll just have to configure the costmap to take in this sensor data, for which the relevant documentation is here: http://www.ros.org/wiki/costmap_2d#Sensor_management_parameters
Hope this helps,
Eitan
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